Continuous servo until limit switch arduino

continuous-servo-until-limit-arduino

#include <Servo.h>

#define TURN_TIME 1200

Servo toolheadServo;

int toolheadHome = 0;
boolean toolheadGoingHome = false;

int discContact = 0;
boolean toolheadGoingAway = false;


char receivedChar;
boolean newData = false;



void setup() {
  //start serial connection
  Serial.begin(9600);
  //configure pin 2 and 3 as an input and enable the internal pull-up resistor
  pinMode(2, INPUT_PULLUP);
  pinMode(3, INPUT_PULLUP);
  pinMode(13, OUTPUT); //LED for switch debug
  // PIN 9 is vertical toolhead movement servo 

 Serial.begin(9600);
 Serial.println("<Arduino is ready>");

}

void loop() {
  //read the pushbutton value into a variable
  toolheadHome = digitalRead(2); //
  discContact = digitalRead(3); //  tbc!!
  
  //print out the value of the pushbutton
  //Serial.println(toolheadHome);

  digitalWrite(13, discContact);


  if (toolheadHome && toolheadGoingHome) {
    toolheadServo.detach();
     Serial.print("Welcome home, toolhead.");
     toolheadGoingHome = false;
  }

  if (discContact && toolheadGoingAway) {
    toolheadServo.detach();
     Serial.print("Toolhead arrived at destination DVD");
     toolheadGoingAway = false;
  }

  recvOneChar();
  showNewData();
  
}

void toolheadGoHome() {
  // will default to HIGH with pullup (i.e if switch dies then motor should cut out safety)
  if (toolheadHome == 1) {
    // good.
    // stop!
    toolheadServo.detach();
    delay(120);
    toolheadGoingHome = false;
    Serial.print("Welcome home, toolhead.");
    
  } else{
    // send it home.
    
    toolheadServo.attach(9);
    delay(120);
    toolheadServo.write(0);

    toolheadGoingHome = true;
    Serial.print("Toolhead going home.");
  }
}

void  toolheadGoExtend() {
  // will default to HIGH with pullup (i.e if switch dies then motor should cut out safety)
  if (discContact == 0) {
    // drive out until disk contact is made
    toolheadServo.attach(9);
    delay(120);
    toolheadServo.write(180);
    toolheadGoingAway = true;
     Serial.print("Toolhead going away, goodbye");
    
  } else {
    // stop when we hit a disc
    toolheadServo.detach();
    delay(120);
    toolheadGoingAway = false;
     Serial.print("Welcome to the DVD surface, toolhead.");
  }
}


void recvOneChar() {
 if (Serial.available() > 0) {
 receivedChar = Serial.read();
 newData = true;
 }
}

void showNewData() {
 if (newData == true) {

 Serial.println("---");
 
 if (receivedChar == 'A') {
  Serial.println("toolheadGoHome");
  toolheadGoHome();
 }

 if (receivedChar == 'B') {
    Serial.println("toolheadGoExtend");

    toolheadGoExtend();
 }
 
 newData = false;
  
 
 }
}

Send A or B over serial to Arduino; it will run the continuous servo (modified from a futaba standard servo) until;

If going home:
toolhead home - switch pin 2 is hot/high

if going to disc:
toolhead disc - switch pin 3 goes high

reports back status over serial
fairly basic, no error checking or timers to verify operations aren't taking too long; thinking rapsberry pi could handle that ?

Thanks Paul, this is really good! I have used your code to adapt and rewrite it for use in a Quadcopter. In my situation a landing gear, using a 360 degrees servo and two limit switches, is controlled by an Arduino Pro Mini. It works very well. Best rgds, Dirk